// handle.h
#ifndef ZHIZHU_HANDLE_H
#define ZHIZHU_HANDLE_H

#include <stdint.h>

// 舵机控制函数
void Servo(uint8_t servoId, int16_t angle);
void body_handle(uint16_t angle);
void limb_handle(uint16_t angle);
void foot_handle(uint16_t angle);
void leg_handle(uint8_t legId, int16_t body, int16_t limb, int16_t foot);
void stand_mark(void);
void stand_action(void);
void leg_move_to_global_position(uint8_t legId, float global_x, float global_y, float global_z);
void leg_move_to_local_position(uint8_t legId, float local_x, float local_y, float local_z);

#endif // ZHIZHU_HANDLE_H
